/*
 * File:   global.h
 * Author: pehladik
 *
 * Created on 21 avril 2011, 12:14
 */

#include "global.h"

RT_TASK tServeur;
RT_TASK tconnect;
RT_TASK tmove;

RT_TASK tbatterie;
RT_TASK twebcam; 

RT_MUTEX mutexEtat;
RT_MUTEX mutexMove;
RT_MUTEX mutexCamera;
RT_MUTEX mutexEtatCamera;
RT_MUTEX mutexMission;

RT_SEM semConnecterRobot;
RT_SEM semEtatRobot;

int etatCommMoniteur = 1;
int etatCommRobot = 1;
int etatCamera = 0;
int etatMission = 0;

DRobot *robot;
DMovement *move;
DServer *serveur;

DCamera *camera;
DImage * img; 
DJpegimage * jpegimg;
DArena* arena;
DPosition* position;
DPosition* position_objectif;
DMission *mission;

